Information processing device, control method, and non-transitory computer-readable media

Abstract

An information processing device includes one or more memories and one or more processors. The one or more processors and the one or more memories are configured to receive control information and data that contains three-dimensional position information generated by a three-dimensional range sensor and convert, based on the received control information, the three-dimensional position information contained in the data received from the three-dimensional range sensor into two-dimensional image data containing information on a distance from a predetermined viewpoint.

What is claimed is: 
     
         1 . An information processing device comprising:
 one or more memories; and   one or more processors, wherein the one or more processors and the one or more memories are configured to:   receive control information and data that contains three-dimensional position information generated by a three-dimensional range sensor; and   convert, based on the received control information, the three-dimensional position information contained in the data received from the three-dimensional range sensor into two-dimensional image data containing information on a distance from a predetermined viewpoint.   
     
     
         2 . The information processing device according to  claim 1 , wherein the one or more processors and the one or more memories are further configured to:
 obtain two-dimensional image data from an image sensing unit; and   convert the three-dimensional position information into the two-dimensional image data corresponding to the obtained two-dimensional image data.   
     
     
         3 . The information processing device according to  claim 2 , wherein the one or more processors and the one or more memories are further configured to:
 perform calibration of coordinates for the image sensing unit and coordinates for the three-dimensional range sensor; and   convert, based on a result of the calibration, the three-dimensional position information into the two-dimensional image data corresponding to the obtained two-dimensional image data.   
     
     
         4 . The information processing device according to  claim 2 , wherein the one or more processors and the one or more memories are further configured to combine the two-dimensional image data obtained from the image sensing unit with the two-dimensional image data. 
     
     
         5 . The information processing device according to  claim 4 , wherein the one or more processors and the one or more memories are further configured to combine the two-dimensional image data obtained from the image sensing unit with the two-dimensional image data, the pieces of two-dimensional image data being generated at times closest to each other. 
     
     
         6 . The information processing device according to  claim 2 , wherein the control information contains information on coordinates for the three-dimensional range sensor and coordinates for the image sensing unit. 
     
     
         7 . The information processing device according to  claim 1 , wherein the three-dimensional range sensor is a light detection and ranging (LiDAR) sensor, and
 wherein the one or more processors and the one or more memories are further configured to convert, as the three-dimensional position information, data received from the LiDAR sensor and indicating a reflection intensity of laser light from an object into the two-dimensional image data.   
     
     
         8 . The information processing device according to  claim 7 , wherein the one or more processors and the one or more memories are further configured to:
 analyze the three-dimensional position information; and   convert, as the three-dimensional position information, a result of the analysis into the two-dimensional image data.   
     
     
         9 . The information processing device according to  claim 8 , wherein the analysis is clustering or semantic segmentation. 
     
     
         10 . The information processing device according to  claim 1 , wherein the one or more processors and the one or more memories are further configured to convert the three-dimensional position information into the two-dimensional image data in accordance with a red-green-blue (RGB) color model. 
     
     
         11 . A control method for an information processing device, the method comprising:
 receiving control information and data that contains three-dimensional position information generated by a three-dimensional range sensor; and   converting, based on the received control information, the three-dimensional position information contained in the data received from the three-dimensional range sensor into two-dimensional image data containing information on a distance from a predetermined viewpoint.   
     
     
         12 . A non-transitory computer-readable media storing instructions that, when executed by a computer, cause the computer to:
 receive control information and data that contains three-dimensional position information generated by a three-dimensional range sensor; and   convert, based on the received control information, the three-dimensional position information contained in the data received from the three-dimensional range sensor into two-dimensional image data containing information on a distance from a predetermined viewpoint.